OpenRaiser/Intern-Atlas huggingface dataset:
Spectral-Domain Spreading via Hadamard Transform for Robust Downlink Non-Orthogonal Multiple Access
Venue: arXiv cs.IT 2026
Year: 2026

Non-orthogonal multiple access (NOMA) systems allowing multiple users sharing the same resource block offer significant gains in spectral efficiency which can enable the required massive access in future wireless systems. However, they face several challenges due to their sensitivity to power allocation coefficients, fading effects, and imperfect channel state information (CSI). To address these limitations, this paper proposes Hadamard-NOMA, an approach leveraging the Hadamard Transform (HT) at the source level prior to modulation. By introducing HT, the system mitigates the adverse impact of fading and CSI imperfections, reducing bit error rates (BER) and enhancing overall system reliability. Theoretical analysis and Monte Carlo simulations validate the effectiveness of this technique, demonstrating robust NOMA transmission in dynamic wireless environments. The proposed method offers a promising solution for next-generation wireless networks, ensuring more reliable performance under diverse transmission conditions. Simulation results confirm analytical predictions, demonstrating significant performance improvements over state-of-the-art T-NOMA and Usman-NOMA schemes. Specifically, for the Near user, a gain of 15 dB is achieved at a Bit Error Rate (BER) of $10^{-2}$, while the Far user benefits from a 10 dB gain at a BER of $10^{-1}$. Compared to Usman-NOMA, the proposed method provides an improvement of 15 dB for the Far user at BER $10^{-1}$. Additionally, in a two-user scenario with imperfect Successive Interference Cancelation (SIC), user 1 requires an SNR at least 14 dB lower than user 2 to achieve a BER of $10^{-3}$. These findings highlight the effectiveness of applying HT at the source stage, significantly mitigating CSI errors and making NOMA more resilient for next-generation wireless networks.
Training-free Temporal Object Tracking in Surgical Videos
Venue: arXiv cs.CV 2026
Year: 2026

Purpose: In this paper, we present a novel approach for online object tracking in laparoscopic cholecystectomy (LC) surgical videos, targeting localisation and tracking of critical anatomical structures and instruments. Our method addresses the challenges of costly pixel-level annotations and label inconsistencies inherent in existing datasets. Methods: Leveraging the inherent object localisation capabilities of pre-trained text-to-image diffusion models, we extract representative features from surgical frames without any training or fine-tuning. Our tracking framework uses these features, along with cross-frame interactions via an affinity matrix inspired by query-key-value attention, to ensure temporal continuity in the tracking process. Results: Through a pilot study, we first demonstrate that diffusion features exhibit superior object localisation and consistent semantics across different decoder levels and temporal frames. Later, we perform extensive experiments to validate the effectiveness of our approach, showcasing its superiority over competitors for the task of temporal object tracking. Specifically, we achieve a per-pixel classification accuracy of 79.19%, mean Jaccard Score of 56.20%, and mean F-Score of 79.48% on the publicly available CholeSeg8K dataset. Conclusion: Our work not only introduces a novel application of text-to-image diffusion models but also contributes to advancing the field of surgical video analysis, offering a promising avenue for accurate and cost-effective temporal object tracking in minimally invasive surgery videos.
SoundWeaver: Semantic Warm-Starting for Text-to-Audio Diffusion Serving
Venue: arXiv cs.SD 2026
Year: 2026

Text-to-audio diffusion models produce high-fidelity audio but require tens of function evaluations (NFEs), incurring multi-second latency and limited throughput. We present SoundWeaver, the first training-free, model-agnostic serving system that accelerates text-to-audio diffusion by warm-starting from semantically similar cached audio. SoundWeaver introduces three components: a Reference Selector that retrieves and temporally aligns cached candidates via semantic and duration-aware gating; a Skip Gater that dynamically determines the percentage of NFEs to skip; and a lightweight Cache Manager that maintains cache utility through quality-aware eviction and refinement. On real-world audio traces, SoundWeaver achieves 1.8--3.0$ \times $ latency reduction with a cache of only ${\sim}$1K entries while preserving or improving perceptual quality.
Viewpoint-Agnostic Grasp Pipeline using VLM and Partial Observations
Venue: arXiv cs.RO 2026
Year: 2026

Robust grasping in cluttered, unstructured environments remains challenging for mobile legged manipulators due to occlusions that lead to partial observations, unreliable depth estimates, and the need for collision-free, execution-feasible approaches. In this paper we present an end-to-end pipeline for language-guided grasping that bridges open-vocabulary target selection to safe grasp execution on a real robot. Given a natural-language command, the system grounds the target in RGB using open-vocabulary detection and promptable instance segmentation, extracts an object-centric point cloud from RGB-D, and improves geometric reliability under occlusion via back-projected depth compensation and two-stage point cloud completion. We then generate and collision-filter 6-DoF grasp candidates and select an executable grasp using safety-oriented heuristics that account for reachability, approach feasibility, and clearance. We evaluate the method on a quadruped robot with an arm in two cluttered tabletop scenarios, using paired trials against a view-dependent baseline. The proposed approach achieves a 90% overall success rate (9/10) against 30% (3/10) for the baseline, demonstrating substantially improved robustness to occlusions and partial observations in clutter.
Identifying Influential Actions in Human-Robot Interactions
Venue: arXiv cs.RO 2026
Year: 2026

Human-robot interaction combines robotics, cognitive science, and human factors to study collaborative systems. This paper introduces a method for identifying influential robot actions using transfer entropy, a statistic that measures directed information transfer between time series. TE is effective for capturing complex, nonlinear interactions. We apply this method to analyze how robot actions affect human behavior during a conversation with a remotely controlled robot avatar. By focusing on the impact of proximity, our approach demonstrates TE's capability to identify key actions influencing human responses, highlighting its potential to improve the design and adaptability of robotic systems.
RoboRouter: Training-Free Policy Routing for Robotic Manipulation
Venue: arXiv cs.RO 2026
Year: 2026

Research on robotic manipulation has developed a diverse set of policy paradigms, including vision-language-action (VLA) models, vision-action (VA) policies, and code-based compositional approaches. Concrete policies typically attain high success rates on specific task distributions but lim-ited generalization beyond it. Rather than proposing an other monolithic policy, we propose to leverage the complementary strengths of existing approaches through intelligent policy routing. We introduce RoboRouter, a training-free framework that maintains a pool of heterogeneous policies and learns to select the best-performing policy for each task through accumulated execution experience. Given a new task, RoboRouter constructs a semantic task representation, retrieves historical records of similar tasks, predicts the optimal policy choice without requiring trial-and-error, and incorporates structured feedback to refine subsequent routing decisions. Integrating a new policy into the system requires only lightweight evaluation and incurs no training overhead. Across simulation benchmark and real-world evaluations, RoboRouter consistently outperforms than in-dividual policies, improving average success rate by more than 3% in simulation and over 13% in real-world settings, while preserving execution efficiency. Our results demonstrate that intelligent routing across heterogeneous, off-the-shelf policies provides a practical and scalable pathway toward building more capable robotic systems.
Revisiting Unknowns: Towards Effective and Efficient Open-Set Active Learning
Venue: arXiv cs.CV 2026
Year: 2026

Open-set active learning (OSAL) aims to identify informative samples for annotation when unlabeled data may contain previously unseen classes-a common challenge in safety-critical and open-world scenarios. Existing approaches typically rely on separately trained open-set detectors, introducing substantial training overhead and overlooking the supervisory value of labeled unknowns for improving known-class learning. In this paper, we propose E$^2$OAL (Effective and Efficient Open-set Active Learning), a unified and detector-free framework that fully exploits labeled unknowns for both stronger supervision and more reliable querying. E$^2$OAL first uncovers the latent class structure of unknowns through label-guided clustering in a frozen contrastively pre-trained feature space, optimized by a structure-aware F1-product objective. To leverage labeled unknowns, it employs a Dirichlet-calibrated auxiliary head that jointly models known and unknown categories, improving both confidence calibration and known-class discrimination. Building on this, a logit-margin purity score estimates the likelihood of known classes to construct a high-purity candidate pool, while an OSAL-specific informativeness metric prioritizes partially ambiguous yet reliable samples. These components together form a flexible two-stage query strategy with adaptive precision control and minimal hyperparameter sensitivity. Extensive experiments across multiple OSAL benchmarks demonstrate that E$^2$OAL consistently surpasses state-of-the-art methods in accuracy, efficiency, and query precision, highlighting its effectiveness and practicality for real-world applications. The code is available at github.com/chenchenzong/E2OAL.
Ares: Adaptive Reasoning Effort Selection for Efficient LLM Agents
Venue: arXiv cs.AI 2026
Year: 2026

Modern agents powered by thinking LLMs achieve high accuracy through long chain-of-thought reasoning but incur substantial inference costs. While many LLMs now support configurable reasoning levels (e.g., high/medium/low), static strategies are often ineffective: using low-effort modes at every step leads to significant performance degradation, while random selection fails to preserve accuracy or provide meaningful cost reduction. However, agents should reserve high reasoning effort for difficult steps like navigating complex website structures, while using lower-effort modes for simpler steps like opening a target URL. In this paper, we propose Ares, a framework for per-step dynamic reasoning effort selection tailored for multi-step agent tasks. Ares employs a lightweight router to predict the lowest appropriate reasoning level for each step based on the interaction history. To train this router, we develop a data generation pipeline that identifies the minimum reasoning effort required for successful step completion. We then fine-tune the router to predict these levels, enabling plug-and-play integration for any LLM agents. We evaluate Ares on a diverse set of agent tasks, including TAU-Bench for tool use agents, BrowseComp-Plus for deep-research agents, and WebArena for web agents. Experimental results show that Ares reduces reasoning token usage by up to 52.7% compared to fixed high-effort reasoning, while introducing minimal degradation in task success rates.
Social Proof is in the Pudding: The (Non)-Impact of Social Proof on Software Downloads
Venue: arXiv cs.CY 2026
Year: 2026

Open-source software is widely used in commercial applications. Pair that with the fact that when choosing open-source software for a new problem, developers often use social proof as a cue. These two facts raise concerns that bad actors can game social proof metrics to induce the use of malign software. We study the question using two field experiments. On the largest developer platform, GitHub, we buy 'stars' for a random set of GitHub repositories of new Python packages and estimate their impact on package downloads and broader repository activity. We find no discernible impact on downloads, nor on forks, pull requests, issues, or other measures of developer engagement. In another field experiment, we manipulate the number of human downloads for Python packages. Again, we find no detectable effect on subsequent downloads or on any measure of repository activity.
Semantic Risk Scoring of Aggregated Metrics: An AI-Driven Approach for Healthcare Data Governance
Venue: arXiv cs.LG 2026
Year: 2026

Large healthcare institutions typically operate multiple business intelligence (BI) teams segmented by domain, including clinical performance, fundraising, operations, and compliance. Due to HIPAA, FERPA, and IRB restrictions, these teams face challenges in sharing patient-level data needed for analytics. To mitigate this, A metric aggregation table is proposed, which is a precomputed, privacy-compliant summary. These abstractions enable decision-making without direct access to sensitive data. However, even aggregated metrics can inadvertently lead to privacy risks if constructed without rigorous safeguards. A modular AI framework is proposed that evaluates SQL-based metric definitions for potential overexposure using both semantic and syntactic features. Specifically, the system parses SQL queries into abstract syntax trees (ASTs), extracts sensitive patterns (e.g., fine-grained GROUP BY on ZIP code or gender), and encodes the logic using pretrained CodeBERT embeddings. These are fused with structural features and passed to an XGBoost classifier trained to assign risk scores. Queries that surpass the risk threshold (e.g., > 0.85) are flagged and returned with human-readable explanations. This enables proactive governance, preventing statistical disclosure before deployment. This implementation demonstrates strong potential for cross-departmental metric sharing in healthcare while maintaining compliance and auditability. The system also promotes role-based access control (RBAC), supports zero-trust data architectures, and aligns with national data modernization goals by ensuring that metric pipelines are explainable, privacy-preserving, and AI-auditable by design. Unlike prior works that rely on runtime data access to flag privacy violations, the proposed framework performs static, explainable detection at the query-level, enabling pre-execution protection and audit readiness
Condition-Triggered Cryptographic Asset Control via Dormant Authorization Paths
Venue: arXiv cs.CR 2026
Year: 2026

Control of encrypted digital assets is traditionally equated with permanent possession of private keys, a model that precludes regulatory supervision, conditional delegation, and legally compliant transfer at the cryptographic layer. Existing remedies (multi-signature schemes, threshold signatures, smart contracts, custodial delegation) require persistent key exposure, on-chain state mutation, or trusted intermediaries. We introduce Condition-Triggered Dormant Authorization Paths (CT-DAP), a cryptographic asset control method built on destructible authorization factors and parameterized by a root-derivable framework satisfying deterministic key derivation, context-isolated capability generation, and authorization-bound revocation. Under CT-DAP, control rights are dormant authorization paths composed of user-held credentials and administrative factors held by independent custodians; a path remains cryptographically inactive until all factors are simultaneously available. Upon verification of predefined conditions (e.g., user consent, inheritance events, time-based triggers), the corresponding factor is released, activating the path. Revocation is achieved by destroying factors, rendering the path permanently unusable without altering the cryptographic root. We formalize the threat model, define security games for unauthorized control resistance, path isolation, and stateless revocation, and prove security under standard assumptions (AEAD security of AES-GCM-SIV, PRF security of HKDF, memory-hardness of Argon2id, collision resistance of SHA-256). We instantiate CT-DAP using the Atomic Cryptographic Entity Generative Framework (ACE-GF) and evaluate performance, demonstrating sub-second activation latency with configurable security-performance trade-offs.
The Li-Chao Tree: Algorithm Specification and Analysis
Venue: arXiv cs.DS 2026
Year: 2026

The Li-Chao tree (LICT) was first introduced in lecture as an efficient data structure for dynamic lower envelope maintenance. In the years since, it has achieved widespread adoption within the competitive programming community, yet no formal specification has appeared in the peer-reviewed literature. This paper provides the definitive formalization of the Li-Chao tree, serving as both the official specification and an expansion of the original lecture. We present complete algorithmic specifications, establish formal correctness proofs, analyze theoretical complexity, and provide empirical performance characterization. The LICT offers distinct advantages in implementation simplicity, numerical stability, and extensibility to advanced variants such as persistence and line segments.
RAPID: Redundancy-Aware and Compatibility-Optimal Edge-Cloud Partitioned Inference for Diverse VLA Models
Venue: arXiv cs.DC 2026
Year: 2026

Vision Language Action (VLA) models are mainstream in embodied intelligence but face high inference costs. Edge-Cloud Collaborative (ECC) inference offers an effective fix by easing edge-device computing pressure to meet real-time needs. However, existing ECC frameworks are suboptimal for VLA models due to two challenges: (1) Mainstream environment-oriented edge-cloud partitioning methods are susceptible to interference from visual noise; (2) Existing edge-cloud partitioning methods overlook the step-wise redundancy unique to embodied tasks, thereby disrupting the physical continuity of motion. To address these issues, we propose a novel ECC inference framework, termed RAPID. Specifically, we developed an implementation tailored to the proposed framework. Experiments demonstrate this achieves a speedup of up to 1.73x with only 5%~7% overhead.
PSTNet: Physically-Structured Turbulence Network
Venue: arXiv cs.LG 2026
Year: 2026

Reliable real-time estimation of atmospheric turbulence intensity remains an open challenge for aircraft operating across diverse altitude bands, particularly over oceanic, polar, and data-sparse regions that lack operational nowcasting infrastructure. Classical spectral models encode climatological averages rather than the instantaneous atmospheric state, and generic ML regressors offer adaptivity but provide no guarantee that predictions respect fundamental scaling laws. This paper introduces the Physically-Structured Turbulence Network (PSTNet), a lightweight architecture that embeds physics directly into its structure. PSTNet couples four components: (i) a zero-parameter backbone derived from Monin-Obukhov theory, (ii) a regime-gated mixture of specialist sub-networks supervised by Richardson-number-derived soft targets, (iii) Feature-wise Linear Modulation layers conditioning hidden representations on local air-density ratio, and (iv) a Kolmogorov output layer enforcing inertial-subrange scaling as an architectural constraint. The entire model contains only 552 learnable parameters, requiring fewer than 2.5 kB of storage and executing in under 12s on a Cortex-M7 microcontroller. We validate PSTNet on 340 paired six-degree-of-freedom guidance simulations spanning three vehicle classes (Mach 2.8, 4.5, and 8.0) and six operational categories with real-time satellite weather ingestion. PSTNet achieves a mean miss-distance improvement of +2.8% with a 78% win rate and a statistically significant effect size. Our results demonstrate that encoding domain physics as architectural priors yields a more efficient and interpretable path to turbulence estimation accuracy than scaling model capacity, establishing PSTNet as a viable drop-in replacement for legacy look-up tables in resource-constrained, safety-critical on-board guidance systems.
Listening with the Eyes: Benchmarking Egocentric Co-Speech Grounding across Space and Time
Venue: arXiv cs.CV 2026
Year: 2026

In situated collaboration, speakers often use intentionally underspecified deictic commands (e.g., ``pass me \textit{that}''), whose referent becomes identifiable only by aligning speech with a brief co-speech pointing \emph{stroke}. However, many embodied benchmarks admit language-only shortcuts, allowing MLLMs to perform well without learning the \emph{audio--visual alignment} required by deictic interaction. To bridge this gap, we introduce \textbf{Egocentric Co-Speech Grounding (EcoG)}, where grounding is executable only if an agent jointly predicts \textit{What}, \textit{Where}, and \textit{When}. To operationalize this, we present \textbf{EcoG-Bench}, an evaluation-only bilingual (EN/ZH) diagnostic benchmark of \textbf{811} egocentric clips with dense spatial annotations and millisecond-level stroke supervision. It is organized under a \textbf{Progressive Cognitive Evaluation} protocol. Benchmarking state-of-the-art MLLMs reveals a severe executability gap: while human subjects achieve near-ceiling performance on EcoG-Bench (\textbf{96.9\%} strict Eco-Accuracy), the best native video-audio setting remains low (Gemini-3-Pro: \textbf{17.0\%}). Moreover, in a diagnostic ablation, replacing the native video--audio interface with timestamped frame samples and externally verified ASR (with word-level timing) substantially improves the same model (\textbf{17.0\%}$\to$\textbf{42.9\%}). Overall, EcoG-Bench provides a strict, executable testbed for event-level speech--gesture binding, and suggests that multimodal interfaces may bottleneck the observability of temporal alignment cues, independently of model reasoning.
VORL-EXPLORE: A Hybrid Learning Planning Approach to Multi-Robot Exploration in Dynamic Environments
Venue: arXiv cs.RO 2026
Year: 2026

Hierarchical multi-robot exploration commonly decouples frontier allocation from local navigation, which can make the system brittle in dense and dynamic environments. Because the allocator lacks direct awareness of execution difficulty, robots may cluster at bottlenecks, trigger oscillatory replanning, and generate redundant coverage. We propose VORL-EXPLORE, a hybrid learning and planning framework that addresses this limitation through execution fidelity, a shared estimate of local navigability that couples task allocation with motion execution. This fidelity signal is incorporated into a fidelity-coupled Voronoi objective with inter-robot repulsion to reduce contention before it emerges. It also drives a risk-aware adaptive arbitration mechanism between global A* guidance and a reactive reinforcement learning policy, balancing long-range efficiency with safe interaction in confined spaces. The framework further supports online self-supervised recalibration of the fidelity model using pseudo-labels derived from recent progress and safety outcomes, enabling adaptation to non-stationary obstacles without manual risk tuning. We evaluate this capability separately in a dedicated severe-traffic ablation. Extensive experiments in randomized grids and a Gazebo factory scenario show high success rates, shorter path length, lower overlap, and robust collision avoidance. The source code will be made publicly available upon acceptance.